Marine survey source firing control

ABSTRACT

A seabed object detection system is provided. The system can include a source array. The source array can include a first source and a second source. The system can include a data processing system including one or more processors. The data processing system can determine a position of the first source and can identify a first firing time of the second source. The data processing system can initiate a first source shot of the first source at a known position and the second source at a known time. The data processing system can determine a target position and estimated position for the first source. The data processing system can determine a second position of the first source based on a difference between the target position and the estimated position. The data processing system can initiate a second source shot of the first source at a known position.

BACKGROUND

Seismic or other operations performed on a piece of earth can identifysubterranean characteristics or features of the analyzed piece of earth.

SUMMARY

At least one aspect of the present disclosure is directed to a seabedobject detection system. The seabed object detection system can includea source array. The source array can include a first source and a secondsource. The seabed object detection system can include a data processingsystem. The data processing system can include one or more processors.The data processing system can determine a first position of the firstsource. The data processing system can identify a first firing time ofthe second source. The data processing system can initiate a firstsource shot of the first source at the first position of the firstsource. The data processing system can initiate a first source shot ofthe second source at the first firing time of the second source. Thedata processing system can determine a target position for the firstsource. The data processing system can determine an estimated positionfor the first source. The data processing system can determine, based ona difference between the target position and the estimated position, asecond position of the first source. The data processing system caninitiate a second source shot of the first source at the second positionof the first source.

At least one aspect of the present disclosure is direct to a method ofseabed object detection. The method can include identifying, by the dataprocessing system, a first firing time of the second source. The methodcan include initiating, by the data processing system, a first sourceshot of the first source at the first position of the first source. Themethod can include initiating, by the data processing system, a firstsource shot of the second source at the first firing time of the secondsource. The method can include determining, by the data processingsystem, a target position for the first source. The method can includedetermining, by the data processing system, an estimated position forthe first source. The method can include determining, by the dataprocessing system, based on a difference between the target position andthe estimated position, a second position of the first source. Themethod can include initiating, by the data processing system, a secondsource shot of the first source at the second position of the firstsource.

At least one aspect of the present disclosure is directed to a seabedobject detection system. The seabed object detection system can includea source array. The source array can include a first source, a secondsource, a third source, and a fourth source. The seabed object detectionsystem can include a data processing system. The data processing systemcan include one or more processors. The data processing system candetermine a first position of the first source. The data processingsystem can calculate a first firing time of the second source, a firstfiring time of the third source, and a first firing time of fourthsource. The data processing system can initiate a first source shot ofthe first source at the first position of the first source. The dataprocessing system can initiate a first source shot of the second sourceat the first firing time of the second source, a first source shot ofthe third source at the first firing time of the third source, and afirst source shot of the fourth source at the first firing time of thefourth source. The data processing system can determine a targetposition for the first source, the target position less than 10 metersfrom the first position of the first source. The data processing systemcan determine an estimated position for the first source. The dataprocessing system can determine, based on a difference between thetarget position and the estimated position, a second position of thefirst source. The data processing system can initiate a second sourceshot of the first source at the second position of the first source.

At least one aspect of the present disclosure is direct to a method ofseabed object detection. The method can include providing a source arraycomprising a first source, a second source, a third source, and a fourthsource. The method can include determining, by a data processing systemhaving one or more processors, a first position of the first source. Themethod can include identifying, by the data processing system, a firstfiring time of the second source, a first firing time of the thirdsource, and a first firing time of fourth source. The method can includeinitiating, by the data processing system, a first source shot of thefirst source at the first position of the first source. The method caninclude initiating, by the data processing system, a first source shotof the second source at the first firing time of the second source, afirst source shot of the third source at the first firing time of thethird source, and a first source shot of the fourth source at the firstfiring time of the fourth source. The method can include determining, bythe data processing system, a target position for the first source, thetarget position less than 10 meters from the first position of the firstsource. The method can include determining, by the data processingsystem, an estimated position for the first source. The method caninclude determining, by the data processing system, based on adifference between the target position and the estimated position, asecond position of the first source. The method can include initiating,by the data processing system, a second source shot of the first sourceat the second position of the first source.

BRIEF DESCRIPTION OF THE DRAWINGS

The details of one or more implementations of the subject matterdescribed in this specification are set forth in the accompanyingdrawings and the description below. Other features, aspects, andadvantages of the subject matter will become apparent from thedescription, the drawings, and the claims.

FIG. 1 illustrates a seabed object detection system according to anexample implementation.

FIG. 2 illustrates a diffraction survey according to an exampleimplementation.

FIG. 3 illustrates a reflection survey according to an exampleimplementation.

FIG. 4 illustrates a seabed object detection system according to anexample implementation.

FIG. 5 illustrates a seabed object detection system according to anexample implementation.

FIG. 6 illustrates a seabed object detection system according to anexample implementation.

FIG. 7 illustrates a method of seabed object detection according to anexample implementation.

FIG. 8 depicts a block diagram of an architecture for a computing systememployed to implement various elements of the systems or componentsdepicted in FIGS. 1-7.

Like reference numbers and designations in the various drawings indicatelike elements.

DETAILED DESCRIPTION

Reflection-based surveys can obtain information relating to subsurfacefeatures. The acoustic signals described herein can reflect offsubsurface lithological formations and be acquired, analyzed andinterpreted. However, reflection-based surveys typically cover a narrowarea and collect a sparse set of data, both of which are factors thatcontribute to an increased time required to complete the surveys.Additionally, small shallow objects such as boulders buried in theseabed may be difficult to precisely image due to the resolutioncapabilities of reflection-based surveys. These small objects cancomplicate or delay wind turbine, marine or ocean bottom constructionsthat are fixed to the seabed, as well as the placement of cableconnections and communication lines between these wind turbine, marineor ocean bottom constructions.

The present disclosure is directed to systems and methods for seabedobject detection. Due to the limitations of reflection-based surveys, itcan be challenging to detect small shallow objects in the seabed.Inefficiencies related to increased survey time, such as a greater riskof weather-based delays, can increase the operating cost of thesesurveys without providing an accurate map of obstacles in the seabed.Additionally, precise control of the firing times of sources and theknowledge of the position of sources can aid in accurate imaging of theseabed. Systems and methods of the present disclosure can solve theseand other problems associated with performing a survey to detect seabedobjects.

The present disclosure is directed to systems and methods for seabedobject detection. For example, the seabed object detection system canprovide an accurate map of obstacles in the seabed. The system caninclude a source array. The source array can include a first source anda second source. The system can include a data processing systemincluding one or more processors. The data processing system candetermine a position of the first source. The data processing system canidentifying a first firing time of the second source. The dataprocessing system can initiate a first source shot of the first sourceat a known position and the second source at a known time. The dataprocessing system can determine a target position and estimated positionfor the first source. The data processing system can determine a secondposition of the first source based on a difference between the targetposition and the estimated position. The data processing system caninitiate a second source shot of the first source at a known position.

FIG. 1 illustrates an example seabed object detection system 100illustrative of a marine environment in which the systems and methods ofthe present disclosure can perform a seismic survey to detect seabedobjects. The seabed object detection system 100 can include a receiverarray 105. The receiver array 105 can include a streamer 125. Forexample, the streamer 125 may be a cable (e.g., a surface marine cable),an assembly of wires, or any component capable of connecting a receiverto a recording device which may be located on a vessel 102. The receiverarray 105 can include a plurality of receivers 110. The plurality ofreceivers 110 can be disposed on a plurality of streamers 115. Astreamer of the plurality of streamers 115 may be a cable (e.g., asurface marine cable), an assembly of wires, or any component capable ofconnecting a receiver to a recording device which may be located on avessel 102. The receiver array 105 can include one or more receivers.For example, the receiver array 105 can include a plurality of receivers110 coupled to a plurality of streamers 115. The receiver array 105 caninclude a pattern of receivers. For example, the plurality of receivers110 can be coupled to the plurality of streamers 115 along a line. Theplurality of receivers 110 of the receiver array 105 can be coupled tothe plurality of streamers 115 in a grid pattern. The receiver array 105can be the pattern formed by the plurality of receivers 110 disposed onthe plurality of streamers 115. For example, the receiver array 105 caninclude a plurality of receivers 110 disposed along a streamer of theplurality of streamers 115. The receiver array 105 can include aplurality of receivers 110 disposed on multiple streamers of theplurality of streamers 115. The receiver array 105 can receivediffraction data diffracted off an object in the seabed.

The receiver array 105 can include a plurality of receivers 110. Theplurality of receivers 110 can receive diffraction data diffracted offan object in a seabed. For example, a receiver of the plurality ofreceivers 110 may be a hydrophone or any other device capable ofcollecting seismic data. Seismic data can include reflection dataindicating subsurface features of the seabed. Seismic data can includediffraction data indicating subsurface features of the seabed. Thesubsurface features of the seabed can include small shallow objects suchas boulders. The small shallow objects can be between 10 cm and 100 cmwide (e.g., 20 cm, 30 cm, 40 cm, 50 cm, 60 cm, 70 cm, 80 cm, 90 cm, 100cm). The small shallow objects can be greater than 100 cm. These smallshallow objects can be less than 10 cm. The plurality of receivers 110can be configured to detect acoustic waves that are reflected by seabedobjects. The plurality of receivers 110 can be configured to detectacoustic waves that are diffracted by seabed objects. The plurality ofreceivers 110 can detect diffraction data from edges of objects. Forexample, the plurality of receivers 110 can detect diffraction dataoriginating from edges of large objects. The large objects can have avolume of between 100 and 500 cubic meters (e.g., 100 cubic meters, 200cubic meters, 300 cubic meters, 400 cubic meters, 500 cubic meters). Thelarge objects can have a volume of less than 100 cubic meters. The largeobjects can have a volume of greater than 100 cubic meters. The largeobject can be a shipping container. The diffraction data can originatefrom corners of the shipping container. The plurality of receivers 110can detect objects with irregular surface features. For example, theplurality of receivers 110 can detect objects with facets, edges, sharpboundaries, or textures. The seabed objects can be completely buriedwithin the seabed. The seabed objects can be partially buried within theseabed.

The seabed object detection system 100 can include a source array 127.The source array can include a first source 150. For example, the firstsource 150 can generate a source shot. The first source 150 can generateacoustic waves. The source array 127 can generate an acoustic signal tobe received by the receiver array 105. The source array 127 includingthe first source 150 can include a pattern of sources. The source array127 can include a second source 155. For example, the second source 155can generate a source shot. The second source 155 can generate acousticwaves. The source array 127 can generate an acoustic signal to bereceived by the receiver array 105. The source array 127 including thesecond source 155 can include a pattern of sources.

The source array 127 can include a third source 160. For example, thethird source 160 can generate a source shot. The third source 160 cangenerate acoustic waves. The source array 127 can generate an acousticsignal to be received by the receiver array 105. The source array 127including the third source 160 can include a pattern of sources. Thesource array 127 can include a fourth source 165. For example, thefourth source 165 can generate a source shot. The fourth source 165 cangenerate acoustic waves. The source array 127 can generate an acousticsignal to be received by the receiver array 105. The source array 127including the fourth source 165 can include a pattern of sources.

The source array 127 can include a fifth source 170. For example, thefifth source 170 can generate a source shot. The fifth source 170 cangenerate acoustic waves. The source array 127 can generate an acousticsignal to be received by the receiver array 105. The source array 127including the fifth source 170 can include a pattern of sources. Thesource array 127 can include a sixth source 175. For example, the sixthsource 175 can generate a source shot. The sixth source 175 can generateacoustic waves. The source array 127 can generate an acoustic signal tobe received by the receiver array 105. The source array 127 includingthe sixth source 175 can include a pattern of sources.

The source array 127 can include a seventh source 180. For example, theseventh source 180 can generate a source shot. The seventh source 180can generate acoustic waves. The source array 127 can generate anacoustic signal to be received by the receiver array 105. The sourcearray 127 including the seventh source 180 can include a pattern ofsources. The source array 127 can include an eighth source 185. Forexample, the eighth source 185 can generate a source shot. The eighthsource 185 can generate acoustic waves. The source array 127 cangenerate an acoustic signal to be received by the receiver array 105.The source array 127 including the eighth source 185 can include apattern of sources.

The seabed object detection system 100 can include a vessel 102. Thevessel 102 can tow the receiver array 105. The vessel 102 can tow thesource array 127. The vessel 102 can tow the source array 127 in a towdirection 101. The vessel 102 can tow the receiver array 105 in a towdirection 101. The vessel 102 can tow the first source 150. The vessel102 can tow the second source 155. The vessel 102 can tow the thirdsource 160. The vessel 102 can tow the fourth source 165. The vessel 102can tow the fifth source 170. The vessel 102 can tow the sixth source175. The vessel 102 can tow the seventh source 180. The vessel 102 cantow the eighth source 185. The vessel 102 can tow the first source 150ahead of the receiver array 105. The vessel 102 can tow the secondsource 155 ahead of the receiver array 105. The vessel 102 can tow thethird source 160 ahead of the receiver array 105. The vessel 102 can towthe fourth source 165 ahead of the receiver array 105. The vessel 102can tow the fifth source 170 ahead of the receiver array 105. The vessel102 can tow the sixth source 175 ahead of the receiver array 105. Thevessel 102 can tow the seventh source 180 ahead of the receiver array105. The vessel 102 can tow the eighth source 185 ahead of the receiverarray 105.

The seabed object detection system 100 can include a power cable 190 toprovide power to a source. For example, the power cable 190 may be apower cable to transmit electrical power from the vessel 102 to thefirst source 150. The power cable 190 may be a power cable to transmitelectrical power from the vessel 102 to the second source 155. The powercable 190 may be a power cable to transmit electrical power from thevessel 102 to the third source 160. The power cable 190 may be a powercable to transmit electrical power from the vessel 102 to the fourthsource 165. The power cable 190 may be a power cable to transmitelectrical power from the vessel 102 to the fifth source 170. The powercable 190 may be a power cable to transmit electrical power from thevessel 102 to the sixth source 175. The power cable 190 may be a powercable to transmit electrical power from the vessel 102 to the seventhsource 180. The power cable 190 may be a power cable to transmitelectrical power from the vessel 102 to the eighth source 185.

FIG. 2 illustrates a diffraction survey 200. The diffraction survey 200can include a receiver array 105 and a source array 127. The sourcearray 127 can generate a source shot 215. The source shot 215 can travelthrough a medium (e.g., sea water) and diffract off a seabed object 210.The seabed object 210 can be completed buried in the seabed 220. Theseabed object 210 can be partially buried in the seabed 220. The seabedobject 210 can include small shallow objects such as boulders. The smallshallow objects can be between 10 cm and 100 cm wide (e.g., 20 cm, 30cm, 40 cm, 50 cm, 60 cm, 70 cm, 80 cm, 90 cm, 100 cm). The small shallowobjects can be greater than 100 cm. These small shallow objects can beless than 10 cm. The waves that diffract off the seabed object 210 mayinclude diffraction data. The diffraction data may include diffractedwaves 205. The receiver array 105 can receive diffraction data. Forexample, the receiver array 105 can receive the diffracted waves 205.The plurality of receivers 110 of the receiver array 105 can receivediffraction data. For example, the plurality of receivers 110 canreceive the diffracted waves 205. The plurality of receivers 110 can becoupled with the streamer 125. A receiver of the plurality of receivers110 can receive the diffracted waves 205. The diffraction data caninclude diffracted waves 205 originating from the seabed object 210. Thediffraction data can include diffracted waves 205 generated from asource shot 215. The plurality of receivers 110 can detect diffractiondata from edges of objects. For example, the plurality of receivers 110can detect diffraction data originating from edges of large objects. Thelarge objects can have a volume of between 100 and 500 cubic meters(e.g., 100 cubic meters, 200 cubic meters, 300 cubic meters, 400 cubicmeters, 500 cubic meters). The large objects can have a volume of lessthan 100 cubic meters. The large objects can have a volume of greaterthan 100 cubic meters. The large object can be a shipping container. Thediffraction data can originate from corners of the shipping container.The plurality of receivers 110 can detect objects with irregular surfacefeatures. For example, the plurality of receivers 110 can detect objectswith facets, edges, sharp boundaries, or textures.

The plurality of receivers 110 of the receiver array 105 can receivediffraction data. The diffraction data can include diffracted waves 205diffracted off a seabed object that is smaller than a Fresnel zone. TheFresnel zone is an area of a reflected from which most of the energy ofa reflection is returned and arrival times of the reflection differ byless than half a period from an arrival of energy propagated from anenergy source. Waves with such arrival times may interfereconstructively and be detected by a single arrival. Therefore, detectingreflection waves from an object smaller than the Fresnel zone may bedifficult. However, the plurality of receivers 110 of the receiver array105 can detect diffracted waves from an object smaller than the Fresnelzone.

The source array 127 can generate acoustic waves. The acoustic waves caninclude a source shot 215. The acoustic waves can diffract off theobject in the seabed. The receiver array 105 can receive diffractedwaves originating from the object in the seabed. The first source 150can generate acoustic waves. The second source 155 can generate acousticwaves. The third source 160 can generate acoustic waves. The fourthsource 165 can generate acoustic waves. The fifth source 170 cangenerate acoustic waves. The sixth source 175 can generate acousticwaves. The seventh source 180 can generate acoustic waves. The eighthsource 185 can generate acoustic waves. A receiver of the plurality ofreceivers 110 of the receiver array 105 can receive the diffractedwaves. A receiver disposed on the streamer 125 can receive thediffracted waves.

FIG. 3 illustrates an example reflection survey 300. The reflectionsurvey 300 can include a receiver array 105 and a source array 127. Thesource array 127 can generate a source shot 215. The source shot 215 cantravel through a medium (e.g., sea water) and reflect off a seabedobject 210. The seabed object 210 can be completed buried in the seabed220. The seabed object 210 can be partially buried in the seabed 220.The seabed object 210 can include small shallow objects such asboulders. The small shallow objects can be between 10 cm and 100 cm wide(e.g., 20 cm, 30 cm, 40 cm, 50 cm, 60 cm, 70 cm, 80 cm, 90 cm, 100 cm).The small shallow objects can be greater than 100 cm. These smallshallow objects can be less than 10 cm. The waves that reflect off theseabed object 210 may include reflection data. The reflection data mayinclude a reflected wave 305. The receiver array 105 can receivereflection data. For example, the receiver array 105 can receive thereflected wave 305. A receiver of the plurality of receivers 110 canreceive the reflected wave 305. The reflection data can include areflected wave 305 originating from a seabed object. The reflection datacan include the reflected wave 305 generated from a source shot 215. Theplurality of sources of the source array 127 can generate an acousticsignal. The plurality of receivers 110 of the receiver array 105 canreceive reflection data reflected off the object in the seabed. Thereflection data can include a reflected wave 305. A receiver of theplurality of receivers 110 can receive the reflected wave 305 reflectedoff the object in the seabed and generated by a source of the pluralityof sources of the source array 127. The plurality of receivers 110 canreceive reflection data reflected off the object in the seabed 220.

FIG. 4 illustrates an example seabed object detection system 100. Theseabed object detection system 100 can include a first source 150. Theseabed object detection system 100 can include a second source 155. Theseabed object detection system 100 can include a third source 160. Theseabed object detection system 100 can include a fourth source 165. Theseabed object detection system 100 can include a fifth source 170. Theseabed object detection system 100 can include a sixth source 175. Theseabed object detection system 100 can include a seventh source 180. Theseabed object detection system 100 can include an eighth source 185.

The seabed object detection system 100 can include a data processingsystem 800 described herein. The data processing system can have one ormore processors 810. The data processing system 800 can determine afirst position of the first source 405. The one or more processors 810can determine a first position of the first source 405. For example, theone or more processors 810 can determine the first position of the firstsource 405 based on a satellite-based navigation system (e.g., GPS),geolocation, real-time locating systems, local positioning systems,among others. The one or more processors 810 can be located on thevessel 102 to determine the first position of the first source 405. Forexample, the first position of the first source 405 can occur at areference location of 0 meters. The first position of the first source405 can be a position of the first source 150.

The data processing system 800 can identify a first firing time of thesecond source 410. The one or more processors 810 can identify a firstfiring time of the second source 410. The one or more processors 810 cancalculate a first firing time of the second source 410. For example, theone or more processors 810 can identify the first firing time of thesecond source 410 based on a speed of the vessel 102. The one or moreprocessors 810 can identify that the first firing time of the secondsource 410 should occur at a predetermined time after a first firingtime of the first source 460. For example, the one or more processors810 can identify that the first firing time of the second source 410should occur 370 milliseconds after the first firing time of the firstsource 460. The one or more processors 810 can determine that the firstfiring time of the second source 410 should occur 370 milliseconds afterthe first firing time of the first source 460. The firing time of thesecond source 410 can be a time of the second source 155.

The data processing system 800 can initiate a first source shot of thefirst source 415 at the first position of the first source 405. The oneor more processors 810 can initiate a first source shot of the firstsource 415 at the first position of the first source 405. The one ormore processors 810 can initiate a first source shot of the first source415. The first source shot of the first source 415 can be a source shot215 of the first source 150. The first source shot of the first source415 can be an acoustic wave of the first source 150. The first sourceshot of the first source 415 can be an acoustic signal of the firstsource 150. The one or more processors 810 can initiate a first sourceshot of the first source 415 at the first position of the first source405. The one or more processors 810 can initiate a first source shot ofthe first source 415 at the first firing time of the first source 460.For example, the first firing time of the first source 460 can be areference time of 0 milliseconds. The first position of the first source405 can be a reference position of 0 meters. The data processing system800 can initiate a first source shot of the first source 415 at a knownposition.

The data processing system 800 can initiate a first source shot of thesecond source 420. The one or more processors 810 can initiate a firstsource shot of the second source 420. The data processing system 800 caninitiate a first source shot of the second source 420 at the firstfiring time of the second source 410. The one or more processors 810 caninitiate a first source shot of the second source 420 at the firstfiring time of the second source 410. The first source shot of thesecond source 420 can be a source shot 215 of the second source 155. Thefirst source shot of the second source 420 can be an acoustic signal ofthe second source 155. The first source shot of the second source 420can be an acoustic wave of the second source 155. The one or moreprocessors 810 can initiate a first source shot of the second source 420at the first firing time of the second source 410. For example, thefirst firing time of the second source 410 can be 370 milliseconds afterthe first firing time of the first source 405. The first firing time ofthe second source 410 can occur when the vessel 102 is approximately0.78 meters away from the position of the vessel 102 when the vessel 102fired the first source shot of the first source 415. The data processingsystem 800 can initiate a first source shot of the second source 420 ata known time.

The data processing system 800 can determine a target position 493 forthe first source 150. The one or more processors 810 can determine atarget position 493 for the first source 150. The one or more processors810 can determine the target position 493 based on a speed of the vessel102. The one or more processors 810 can determine the target position493 based on a velocity of the vessel 102. The one or more processors810 can determine the target position 493 based on the first position ofthe first source 405. For example, the target position 493 for the firstsource 150 can be less than 10 meters away from the first position ofthe first source 405 (e.g., 6.25 meters). The data processing system 800can determine the target position 493 for the first source 150. Thetarget position can be 6.25 meters from the first position of the firstsource 405. The target position can be less than 10 meters from thefirst position of the first source 405. The target position can begreater than 10 meters from the first position of the first source 405.

The data processing system 800 can determine an estimated position 490for the first source. The one or more processors 810 can determine anestimated position 490 for the first source. The one or more processors810 can determine the estimated position 490 based on the speed of thevessel 102. The one or more processors 810 can determine the estimatedposition 490 based on the velocity of the vessel 102. The one or moreprocessors 810 can determine the estimated position 490 based on thefirst position of the first source 405.

The data processing system 800 can determine a second position of thefirst source 495. The one or more processors 810 can determine a secondposition of the first source 495. The one or more processors 810 candetermine a second position of the first source 495 based on adifference between the target position 493 and the estimated position490. For example, the vessel 102 can target to initiate a second sourceshot of the first source 475 a distance of 6.25 meters away from thereference position of 0 meters. For example, if the estimated position490 is further away from the first position of the first source 405 thanthe target position 493, a second source shot of the first source 475can be initiated earlier than calculated based on the speed of thevessel 102. For example, the target position 493 can be 6.25 meters. Theestimated position 490 can be more than 6.25 meters. If the estimatedposition 490 is closer to the first position of the first source 405than the target position 493, a second source shot of the first source475 can be initiated later than calculated based on the speed of thevessel 102. For example, the target position 493 can be 6.25 meters. Theestimated position 490 can be less than 6.25 meters. The target position493 can be equal to the estimated position 490.

The data processing system 800 can initiate a second source shot of thefirst source 475. The one or more processors 810 can initiate a secondsource shot of the first source 475. The one or more processors 810 caninitiate a second source shot of the first source 475 at the secondposition of the first source 495. The second position of the firstsource 495 can be 6.25 meters away from the first position of the firstsource 405. The data processing system 800 can initiate a second sourceshot of the first source 475 at a known time. The data processing system800 can initiate a second source shot of the first source 475 at a knownposition.

The data processing system 800 can calculate a time interval 455 betweenthe first firing time of the first source 460 and the first firing timeof the second source 410. The one or more processors 810 can calculate atime interval 455 between the first firing time of the first source 460and the first firing time of the second source 410. The data processingsystem 800 can calculate a time interval 455 between the first firingtime of the first source 460 and the first firing time of the secondsource 410 that is less than one second. For example, the dataprocessing system 800 can calculate a time interval 455 between thefirst firing time of the first source 460 and the first firing time ofthe second source 410 that is 370 milliseconds. The data processingsystem 800 can calculate a time interval between a first firing time ofthe first source 460 and the first firing time of the second source 410.The data processing system 800 can calculate a time interval between afirst firing time of the first source 460 and the first firing time ofthe second source 410 that is less than one second.

The data processing system 800 can delay a firing time. The dataprocessing system 800 can delay the firing time of the second sourceshot of the first source 475. The one or more processors 810 can delaythe firing time. The one or more processors 810 can delay the firingtime of the second source shot of the first source 475. For example, thedata processing system 800 can delay the firing time of the secondsource shot of the first source 475 by a calculated amount of time. Thedata processing system 800 can delay the firing time of the secondsource shot by a calculated amount of time based on the speed of thevessel 102. The data processing system 800 can delay the firing time ofthe second source shot of the first source 475 by a calculated amount oftime based on the location of the vessel 102. The one or more processors810 can delay the firing time of the second source shot of the firstsource 475 by a calculated amount of time based on the speed of thevessel 102. The one or more processors 810 can delay the firing time ofthe second source shot of the first source 475 by a calculated amount oftime based on the location of the vessel 102.

The data processing system 800 can accelerate a firing time. The dataprocessing system 800 can accelerate the firing time of the secondsource shot of the first source 475. The one or more processors 810 canaccelerate the firing time. The one or more processors 810 canaccelerate the firing time of the second source shot of the first source475. For example, the data processing system 800 can accelerate thefiring time of the second source shot of the first source 475 by acalculated amount of time. The data processing system 800 can acceleratethe firing time of the second source shot by a calculated amount of timebased on the speed of the vessel 102. The data processing system 800 canaccelerate the firing time of the second source shot of the first source475 by a calculated amount of time based on the location of the vessel102. The one or more processors 810 can accelerate the firing time ofthe second source shot of the first source 475 by a calculated amount oftime based on the speed of the vessel 102. The one or more processors810 can accelerate the firing time of the second source shot of thefirst source 475 by a calculated amount of time based on the location ofthe vessel 102.

The data processing system 800 can calculate a first firing time of thethird source 427. The one or more processors 810 can calculate a firstfiring time of the third source 427. For example, the one or moreprocessors 810 can calculate the first firing time of the third source427 based on a speed of the vessel 102. The one or more processors 810can calculate that the first firing time of the third source 427 shouldoccur at a predetermined time after a first firing time of the firstsource 460. For example, the one or more processors 810 can calculatethat the first firing time of the third source 427 should occur 740milliseconds after the first firing time of the first source 460. Theone or more processors 810 can determine that the first firing time ofthe third source 427 should occur 740 milliseconds after the firstfiring time of the first source 460. The first firing time of the thirdsource 427 can be a time of the third source 160. The data processingsystem 800 can calculate a fixed time interval between the first firingtime of the second source 410 and the first firing time of the thirdsource 427. The data processing system 800 can calculate a time intervalbetween a first firing time of the second source 410 and the firstfiring time of the third source 427. The data processing system 800 cancalculate a time interval between a first firing time of the secondsource 410 and the first firing time of the third source 427 that isless than one second.

The data processing system 800 can initiate a first source shot of thethird source 425 at the first firing time of the third source 427. Theone or more processors 810 can initiate a first source shot of the thirdsource 425 at the first firing time of the third source 427. The firstsource shot of the third source 425 can be a source shot 215 of thethird source 160. The first source shot of the third source 425 can bean acoustic signal of the third source 160. The first source shot of thethird source 425 can be an acoustic wave of the third source 160. Theone or more processors 810 can initiate a first source shot of the thirdsource 425 at the first firing time of the third source 427. Forexample, the first firing time of the third source 427 can be 740milliseconds after the first firing time of the first source 405. Thefirst firing time of the third source 427 can occur when the vessel 102is approximately 1.56 meters away from the position of the vessel 102when the vessel 102 fired the first source shot of the first source 415.The data processing system 800 can initiate a first source shot of thethird source 425 at a known time.

The data processing system 800 can calculate a first firing time of thefourth source 432. The one or more processors 810 can calculate a firstfiring time of the fourth source 432. For example, the one or moreprocessors 810 can calculate the first firing time of the fourth source432 based on a speed of the vessel 102. The one or more processors 810can calculate that the first firing time of the fourth source 432 shouldoccur at a predetermined time after a first firing time of the firstsource 460. For example, the one or more processors 810 can calculatethat the first firing time of the fourth source 432 should occur 1110milliseconds after the first firing time of the first source 460. Theone or more processors 810 can determine that the first firing time ofthe fourth source 432 should occur 1110 milliseconds after the firstfiring time of the first source 460. The first firing time of the fourthsource 432 can be a time of the fourth source 165. The data processingsystem 800 can calculate a fixed time interval between the first firingtime of the third source 427 and the first firing time of the fourthsource 432. The data processing system 800 can calculate a time intervalbetween a first firing time of the third source 427 and the first firingtime of the fourth source 432. The data processing system 800 cancalculate a time interval between a first firing time of the thirdsource 427 and the first firing time of the fourth source 432 that isless than one second.

The data processing system 800 can initiate a first source shot of thefourth source 430 at the first firing time of the fourth source 432. Theone or more processors 810 can initiate a first source shot of thefourth source 430 at the first firing time of the fourth source 432. Thefirst source shot of the fourth source 430 can be a source shot 215 ofthe fourth source 165. The first source shot of the fourth source 430can be an acoustic signal of the fourth source 165. The first sourceshot of the fourth source 430 can be an acoustic wave of the fourthsource 165. The one or more processors 810 can initiate a first sourceshot of the fourth source 430 at the first firing time of the fourthsource 432. For example, the first firing time of the fourth source 432can be 1110 milliseconds after the first firing time of the first source405. The first firing time of the fourth source 432 can occur when thevessel 102 is approximately 2.34 meters away from the position of thevessel 102 when the vessel 102 fired the first source shot of the firstsource 415. The data processing system 800 can initiate a first sourceshot of the fourth source 430 at a known time.

The data processing system 800 can calculate a first firing time of thefifth source 437. The one or more processors 810 can calculate a firstfiring time of the fifth source 437. For example, the one or moreprocessors 810 can calculate the first firing time of the fifth source437 based on a speed of the vessel 102. The one or more processors 810can calculate that the first firing time of the fifth source 437 shouldoccur at a predetermined time after a first firing time of the firstsource 460. For example, the one or more processors 810 can calculatethat the first firing time of the fifth source 437 should occur 1480milliseconds after the first firing time of the first source 460. Theone or more processors 810 can determine that the first firing time ofthe fifth source 437 should occur 1480 milliseconds after the firstfiring time of the first source 460. The first firing time of the fifthsource 437 can be a time of the fifth source 170. The data processingsystem 800 can calculate a fixed time interval between the first firingtime of the fourth source 432 and the first firing time of the fifthsource 437. The data processing system 800 can calculate a time intervalbetween a first firing time of the fourth source 432 and the firstfiring time of the fifth source 437. The data processing system 800 cancalculate a time interval between a first firing time of the fourthsource 432 and the first firing time of the fifth source 437 that isless than one second.

The data processing system 800 can initiate a first source shot of thefifth source 435 at the first firing time of the fifth source 437. Theone or more processors 810 can initiate a first source shot of the fifthsource 435 at the first firing time of the fifth source 437. The firstsource shot of the fifth source 435 can be a source shot 215 of thefifth source 170. The first source shot of the fifth source 435 can bean acoustic signal of the fifth source 170. The first source shot of thefifth source 435 can be an acoustic wave of the fifth source 170. Theone or more processors 810 can initiate a first source shot of the fifthsource 435 at the first firing time of the fifth source 437. Forexample, the first firing time of the fifth source 437 can be 1480milliseconds after the first firing time of the first source 405. Thefirst firing time of the fifth source 437 can occur when the vessel 102is approximately 3.12 meters away from the position of the vessel 102when the vessel 102 fired the first source shot of the first source 415.The data processing system 800 can initiate a first source shot of thefifth source 435 at a known time.

The data processing system 800 can calculate a first firing time of thesixth source 442. The one or more processors 810 can calculate a firstfiring time of the sixth source 442. For example, the one or moreprocessors 810 can calculate the first firing time of the sixth source442 based on a speed of the vessel 102. The one or more processors 810can calculate that the first firing time of the sixth source 442 shouldoccur at a predetermined time after a first firing time of the firstsource 460. For example, the one or more processors 810 can calculatethat the first firing time of the sixth source 442 should occur 1850milliseconds after the first firing time of the first source 460. Theone or more processors 810 can determine that the first firing time ofthe sixth source 442 should occur 1850 milliseconds after the firstfiring time of the first source 460. The first firing time of the sixthsource 442 can be a time of the sixth source 175. The data processingsystem 800 can calculate a fixed time interval between the first firingtime of the fifth source 437 and the first firing time of the sixthsource 442. The data processing system 800 can calculate a time intervalbetween a first firing time of the fifth source 437 and the first firingtime of the sixth source 442. The data processing system 800 cancalculate a time interval between a first firing time of the fifthsource 437 and the first firing time of the sixth source 442 that isless than one second.

The data processing system 800 can initiate a first source shot of thesixth source 440 at the first firing time of the sixth source 442. Theone or more processors 810 can initiate a first source shot of the sixthsource 440 at the first firing time of the sixth source 442. The firstsource shot of the sixth source 440 can be a source shot 215 of thesixth source 175. The first source shot of the sixth source 440 can bean acoustic signal of the sixth source 175. The first source shot of thesixth source 440 can be an acoustic wave of the sixth source 175. Theone or more processors 810 can initiate a first source shot of the sixthsource 440 at the first firing time of the sixth source 442. Forexample, the first firing time of the sixth source 442 can be 1110milliseconds after the first firing time of the first source 405. Thefirst firing time of the sixth source 442 can occur when the vessel 102is approximately 3.9 meters away from the position of the vessel 102when the vessel 102 fired the first source shot of the first source 415.The data processing system 800 can initiate a first source shot of thesixth source 440 at a known time.

The data processing system 800 can calculate a first firing time of theseventh source 447. The one or more processors 810 can calculate a firstfiring time of the seventh source 447. For example, the one or moreprocessors 810 can calculate the first firing time of the seventh source447 based on a speed of the vessel 102. The one or more processors 810can calculate that the first firing time of the seventh source 447should occur at a predetermined time after a first firing time of thefirst source 460. For example, the one or more processors 810 cancalculate that the first firing time of the seventh source 447 shouldoccur 2220 milliseconds after the first firing time of the first source460. The one or more processors 810 can determine that the first firingtime of the seventh source 447 should occur 2220 milliseconds after thefirst firing time of the first source 460. The first firing time of theseventh source 447 can be a time of the seventh source 180. The dataprocessing system 800 can calculate a fixed time interval between thefirst firing time of the sixth source 442 and the first firing time ofthe seventh source 447. The data processing system 800 can calculate atime interval between a first firing time of the sixth source 442 andthe first firing time of the seventh source 447. The data processingsystem 800 can calculate a time interval between a first firing time ofthe sixth source 442 and the first firing time of the seventh source 447that is less than one second.

The data processing system 800 can initiate a first source shot of theseventh source 445 at the first firing time of the seventh source 447.The one or more processors 810 can initiate a first source shot of theseventh source 445 at the first firing time of the seventh source 447.The first source shot of the seventh source 445 can be a source shot 215of the seventh source 180. The first source shot of the seventh source445 can be an acoustic signal of the seventh source 180. The firstsource shot of the seventh source 445 can be an acoustic wave of theseventh source 180. The one or more processors 810 can initiate a firstsource shot of the seventh source 445 at the first firing time of theseventh source 447. For example, the first firing time of the seventhsource 447 can be 2220 milliseconds after the first firing time of thefirst source 405. The first firing time of the seventh source 447 canoccur when the vessel 102 is approximately 4.68 meters away from theposition of the vessel 102 when the vessel 102 fired the first sourceshot of the first source 415. The data processing system 800 caninitiate a first source shot of the seventh source 445 at a known time.

The data processing system 800 can calculate a first firing time of theeighth source 452. The one or more processors 810 can calculate a firstfiring time of the eighth source 452. For example, the one or moreprocessors 810 can calculate the first firing time of the eighth source452 based on a speed of the vessel 102. The one or more processors 810can calculate that the first firing time of the eighth source 452 shouldoccur at a predetermined time after a first firing time of the firstsource 460. For example, the one or more processors 810 can calculatethat the first firing time of the eighth source 452 should occur 2590milliseconds after the first firing time of the first source 460. Theone or more processors 810 can determine that the first firing time ofthe eighth source 452 should occur 2590 milliseconds after the firstfiring time of the first source 460. The first firing time of the eighthsource 452 can be a time of the eighth source 185. The data processingsystem 800 can calculate a fixed time interval between the first firingtime of the seventh source 447 and the first firing time of the eighthsource 452. The data processing system 800 can calculate a time intervalbetween a first firing time of the seventh source 447 and the firstfiring time of the eighth source 452. The data processing system 800 cancalculate a time interval between a first firing time of the seventhsource 447 and the first firing time of the eighth source 452 that isless than one second.

The data processing system 800 can initiate a first source shot of theeighth source 450 at the first firing time of the eighth source 452. Theone or more processors 810 can initiate a first source shot of theeighth source 450 at the first firing time of the eighth source 452. Thefirst source shot of the eighth source 450 can be a source shot 215 ofthe eighth source 185. The first source shot of the eighth source 450can be an acoustic signal of the eighth source 185. The first sourceshot of the eighth source 450 can be an acoustic wave of the eighthsource 185. The one or more processors 810 can initiate a first sourceshot of the eighth source 450 at the first firing time of the eighthsource 452. For example, the first firing time of the eighth source 452can be 2590 milliseconds after the first firing time of the first source405. The first firing time of the eighth source 452 can occur when thevessel 102 is approximately 5.46 meters away from the position of thevessel 102 when the vessel 102 fired the first source shot of the firstsource 415. The data processing system 800 can initiate a first sourceshot of the eighth source 450 at a known time.

FIG. 5 illustrates a seabed object detection system 100. The seabedobject detection system 100 can include a first source 150. The seabedobject detection system 100 can include a second source 155. The seabedobject detection system 100 can include a third source 160. The seabedobject detection system 100 can include a fourth source 165. The seabedobject detection system 100 can include a fifth source 170. The seabedobject detection system 100 can include a sixth source 175. The seabedobject detection system 100 can include a seventh source 180. The seabedobject detection system 100 can include an eighth source 185.

The data processing system 800 can calculate a second firing time of thesecond source 510. The one or more processors 810 can calculate a secondfiring time of the second source 510. The data processing system 800 canidentify a second firing time of the second source 510. The one or moreprocessors 810 can identify a second firing time of the second source510. The one or more processors 810 can calculate a second firing timeof the second source 510. For example, the one or more processors 810can identify the second firing time of the second source 510 based on aspeed of the vessel 102. The one or more processors 810 can identifythat the second firing time of the second source 510 should occur at apredetermined time after a first firing time of the first source 460.For example, the one or more processors 810 can identify that the secondfiring time of the second source 510 should occur 3330 millisecondsafter the first firing time of the first source 460. The one or moreprocessors 810 can determine that the second firing time of the secondsource 510 should occur 3330 milliseconds after the first firing time ofthe first source 460. The firing time of the second source 410 can be atime of the second source 155.

The data processing system 800 can initiate a second source shot of thesecond source 520 at the second firing time of the second source 510.The one or more processors 810 can calculate a second firing time of thesecond source 510. The data processing system 800 can initiate a secondsource shot of the second source 520. The one or more processors 810 caninitiate a second source shot of the second source 520. The secondsource shot of the second source 520 can be a source shot 215 of thesecond source 155. The second source shot of the second source 520 canbe an acoustic signal of the second source 155. The second source shotof the second source 520 can be an acoustic wave of the second source155. The one or more processors 810 can initiate a second source shot ofthe second source 520 at the second firing time of the second source510. For example, the second firing time of the second source 510 can be3330 milliseconds after the first firing time of the first source 405.The second firing time of the second source 510 can occur when thevessel 102 is approximately 7.03 meters away from the position of thevessel 102 when the vessel 102 fired the first source shot of the firstsource 415. The data processing system 800 can initiate a second sourceshot of the second source 520 at a known time.

The data processing system 800 can calculate a time interval between thefirst firing time of the first source 460 and a second firing time ofthe first source 560. The one or more processors 810 can calculate atime interval between the first firing time of the first source 460 andthe second firing time of the first source 560. The data processingsystem 800 can calculate a time interval between the first firing timeof the first source shot of the first source 150 and the second firingtime of the second source shot of the first source. The one or moreprocessors 810 can calculate a time interval between the first firingtime of the first source shot of the first source 460 and the secondfiring time of the second source shot of the first source. The dataprocessing system 800 can calculate the time interval between the firstfiring time of the first source 460 and a second firing time of thefirst source 560 based on a speed of the vessel 102. The one or moreprocessors 810 can calculate a time interval between the first firingtime of the first source 460 and the second firing time of the firstsource 560 based on the speed of the vessel 102. For example, the timeinterval between the first firing time of the first source 460 and thesecond firing time of the first source 560 can be 2960 milliseconds.

The data processing system 800 can calculate a second firing time of thethird source 527. The one or more processors 810 can calculate a secondfiring time of the third source 527. For example, the one or moreprocessors 810 can calculate the second firing time of the third source527 based on a speed of the vessel 102. The one or more processors 810can calculate that the second firing time of the third source 527 shouldoccur at a predetermined time after a first firing time of the firstsource 460. For example, the one or more processors 810 can calculatethat the second firing time of the third source 527 should occur 3700milliseconds after the first firing time of the first source 460. Theone or more processors 810 can determine that the second firing time ofthe third source 527 should occur 3700 milliseconds after the firstfiring time of the first source 460. The second firing time of the thirdsource 527 can be a time of the third source 160.

The data processing system 800 can initiate a second source shot of thethird source 525 at the second firing time of the third source 527. Theone or more processors 810 can initiate a second source shot of thethird source 525 at the second firing time of the third source 527. Thesecond source shot of the third source 525 can be a source shot 215 ofthe third source 160. The second source shot of the third source 525 canbe an acoustic signal of the third source 160. The second source shot ofthe third source 525 can be an acoustic wave of the third source 160.The one or more processors 810 can initiate a second source shot of thethird source 525 at the second firing time of the third source 527. Forexample, the second firing time of the third source 527 can be 3700milliseconds after the first firing time of the first source 405. Thesecond firing time of the third source 527 can occur when the vessel 102is approximately 7.81 meters away from the position of the vessel 102when the vessel 102 fired the first source shot of the first source 415.The data processing system 800 can initiate a second source shot of thethird source 525 at a known time.

The data processing system 800 can calculate a second firing time of thefourth source 532. The one or more processors 810 can calculate a secondfiring time of the fourth source 532. For example, the one or moreprocessors 810 can calculate the second firing time of the fourth source532 based on a speed of the vessel 102. The one or more processors 810can calculate that the second firing time of the fourth source 532should occur at a predetermined time after a first firing time of thefirst source 460. For example, the one or more processors 810 cancalculate that the second firing time of the fourth source 532 shouldoccur 4070 milliseconds after the first firing time of the first source460. The one or more processors 810 can determine that the second firingtime of the fourth source 532 should occur 4070 milliseconds after thefirst firing time of the first source 460. The second firing time of thefourth source 532 can be a time of the fourth source 165.

The data processing system 800 can initiate a second source shot of thefourth source 530 at the second firing time of the fourth source 532.The one or more processors 810 can initiate a second source shot of thefourth source 530 at the second firing time of the fourth source 532.The second source shot of the fourth source 530 can be a source shot 215of the fourth source 165. The second source shot of the fourth source530 can be an acoustic signal of the fourth source 165. The secondsource shot of the fourth source 530 can be an acoustic wave of thefourth source 165. The one or more processors 810 can initiate a secondsource shot of the fourth source 530 at the second firing time of thefourth source 532. For example, the second firing time of the fourthsource 532 can be 4070 milliseconds after the first firing time of thefirst source 405. The second firing time of the fourth source 532 canoccur when the vessel 102 is approximately 8.59 meters away from theposition of the vessel 102 when the vessel 102 fired the first sourceshot of the first source 415. The data processing system 800 caninitiate a second source shot of the fourth source 530 at a known time.

The data processing system 800 can calculate a second firing time of thefifth source 537. The one or more processors 810 can calculate a secondfiring time of the fifth source 537. For example, the one or moreprocessors 810 can calculate the second firing time of the fifth source537 based on a speed of the vessel 102. The one or more processors 810can calculate that the second firing time of the fifth source 537 shouldoccur at a predetermined time after a first firing time of the firstsource 460. For example, the one or more processors 810 can calculatethat the second firing time of the fifth source 537 should occur 4440milliseconds after the first firing time of the first source 460. Theone or more processors 810 can determine that the second firing time ofthe fifth source 537 should occur 4440 milliseconds after the firstfiring time of the first source 460. The second firing time of the fifthsource 537 can be a time of the fifth source 170.

The data processing system 800 can initiate a second source shot of thefifth source 535 at the second firing time of the fifth source 537. Theone or more processors 810 can initiate a second source shot of thefifth source 535 at the second firing time of the fifth source 537. Thesecond source shot of the fifth source 535 can be a source shot 215 ofthe fifth source 170. The second source shot of the fifth source 535 canbe an acoustic signal of the fifth source 170. The second source shot ofthe fifth source 535 can be an acoustic wave of the fifth source 170.The one or more processors 810 can initiate a second source shot of thefifth source 535 at the second firing time of the fifth source 537. Forexample, the second firing time of the fifth source 537 can be 4440milliseconds after the first firing time of the first source 405. Thesecond firing time of the fifth source 537 can occur when the vessel 102is approximately 9.37 meters away from the position of the vessel 102when the vessel 102 fired the first source shot of the first source 415.The data processing system 800 can initiate a second source shot of thefifth source 535 at a known time.

The data processing system 800 can calculate a second firing time of thesixth source 542. The one or more processors 810 can calculate a secondfiring time of the sixth source 542. For example, the one or moreprocessors 810 can calculate the second firing time of the sixth source542 based on a speed of the vessel 102. The one or more processors 810can calculate that the second firing time of the sixth source 542 shouldoccur at a predetermined time after a first firing time of the firstsource 460. For example, the one or more processors 810 can calculatethat the second firing time of the sixth source 542 should occur 4810milliseconds after the first firing time of the first source 460. Theone or more processors 810 can determine that the second firing time ofthe sixth source 542 should occur 4810 milliseconds after the firstfiring time of the first source 460. The second firing time of the sixthsource 542 can be a time of the sixth source 175.

The data processing system 800 can initiate a second source shot of thesixth source 540 at the second firing time of the sixth source 542. Theone or more processors 810 can initiate a second source shot of thesixth source 540 at the second firing time of the sixth source 542. Thesecond source shot of the sixth source 540 can be a source shot 215 ofthe sixth source 175. The second source shot of the sixth source 540 canbe an acoustic signal of the sixth source 175. The second source shot ofthe sixth source 540 can be an acoustic wave of the sixth source 175.The one or more processors 810 can initiate a second source shot of thesixth source 540 at the second firing time of the sixth source 542. Forexample, the second firing time of the sixth source 542 can be 4810milliseconds after the first firing time of the first source 405. Thesecond firing time of the sixth source 542 can occur when the vessel 102is approximately 10.15 meters away from the position of the vessel 102when the vessel 102 fired the first source shot of the first source 415.The data processing system 800 can initiate a second source shot of thesixth source 540 at a known time.

The data processing system 800 can calculate a second firing time of theseventh source 547. The one or more processors 810 can calculate asecond firing time of the seventh source 547. For example, the one ormore processors 810 can calculate the second firing time of the seventhsource 547 based on a speed of the vessel 102. The one or moreprocessors 810 can calculate that the second firing time of the seventhsource 547 should occur at a predetermined time after a first firingtime of the first source 460. For example, the one or more processors810 can calculate that the second firing time of the seventh source 547should occur 5180 milliseconds after the first firing time of the firstsource 460. The one or more processors 810 can determine that the secondfiring time of the seventh source 547 should occur 5180 millisecondsafter the first firing time of the first source 460. The second firingtime of the seventh source 547 can be a time of the seventh source 180.

The data processing system 800 can initiate a second source shot of theseventh source 545 at the second firing time of the seventh source 547.The one or more processors 810 can initiate a second source shot of theseventh source 545 at the second firing time of the seventh source 547.The second source shot of the seventh source 545 can be a source shot215 of the seventh source 180. The second source shot of the seventhsource 545 can be an acoustic signal of the seventh source 180. Thesecond source shot of the seventh source 545 can be an acoustic wave ofthe seventh source 180. The one or more processors 810 can initiate asecond source shot of the seventh source 545 at the second firing timeof the seventh source 547. For example, the second firing time of theseventh source 547 can be 5180 milliseconds after the first firing timeof the first source 405. The second firing time of the seventh source547 can occur when the vessel 102 is approximately 10.93 meters awayfrom the position of the vessel 102 when the vessel 102 fired the firstsource shot of the first source 415. The data processing system 800 caninitiate a second source shot of the seventh source 545 at a known time.

The data processing system 800 can calculate a second firing time of theeighth source 552. The one or more processors 810 can calculate a secondfiring time of the eighth source 552. For example, the one or moreprocessors 810 can calculate the second firing time of the eighth source552 based on a speed of the vessel 102. The one or more processors 810can calculate that the second firing time of the eighth source 552should occur at a predetermined time after a first firing time of thefirst source 460. For example, the one or more processors 810 cancalculate that the second firing time of the eighth source 552 shouldoccur 5550 milliseconds after the first firing time of the first source460. The one or more processors 810 can determine that the second firingtime of the eighth source 552 should occur 5550 milliseconds after thefirst firing time of the first source 460. The second firing time of theeighth source 552 can be a time of the eighth source 185.

The data processing system 800 can initiate a second source shot of theeighth source 550 at the second firing time of the eighth source 552.The one or more processors 810 can initiate a second source shot of theeighth source 550 at the second firing time of the eighth source 552.The second source shot of the eighth source 550 can be a source shot 215of the eighth source 185. The second source shot of the eighth source550 can be an acoustic signal of the eighth source 185. The secondsource shot of the eighth source 550 can be an acoustic wave of theeighth source 185. The one or more processors 810 can initiate a secondsource shot of the eighth source 550 at the second firing time of theeighth source 552. For example, the second firing time of the eighthsource 552 can be 5550 milliseconds after the first firing time of thefirst source 405. The second firing time of the eighth source 552 canoccur when the vessel 102 is approximately 11.71 meters away from theposition of the vessel 102 when the vessel 102 fired the first sourceshot of the first source 415. The data processing system 800 caninitiate a second source shot of the eighth source 550 at a known time.

The data processing system 800 can initiate a third source shot of thefirst source 575. The one or more processors 810 can initiate a thirdsource shot of the first source 575. The one or more processors 810 caninitiate a third source shot of the first source 575 at a third positionof the first source 595. The third position of the first source 595 canbe 12.5 meters away from the first position of the first source 405. Thethird position of the first source 595 can be less than 12.5 meters awayfrom the first position of the first source 405. The third position ofthe first source 595 can be greater than 12.5 meters away from the firstposition of the first source 405. The data processing system 800 caninitiate a third source shot of the first source 575 at a knownposition. The data processing system 800 can initiate a third sourceshot of the first source 575 at a known time.

The data processing system 800 can calculate a time interval 555 betweenthe second firing time of the first source 560 and second firing time ofthe second source 510. The one or more processors 810 can calculate atime interval 555 between the second firing time of the first source 560and second firing time of the second source 510. The data processingsystem 800 can calculate a time interval 555 between the second firingtime of the first source 560 and second firing time of the second source510 that is less than one second. For example, the data processingsystem 800 can calculate a time interval 555 between the second firingtime of the first source 560 and second firing time of the second source510 that is 370 milliseconds.

The data processing system 800 can delay a firing time. The dataprocessing system 800 can delay the firing time of the third source shotof the first source 575. The one or more processors 810 can delay thefiring time. The one or more processors 810 can delay the firing time ofthe third source shot of the first source 575. For example, the dataprocessing system 800 can delay the firing time of the third source shotof the first source 575 by a calculated amount of time. The dataprocessing system 800 can delay the firing time of the second sourceshot by a calculated amount of time based on the speed of the vessel102. The data processing system 800 can delay the firing time of thethird source shot of the first source 575 by a calculated amount of timebased on the location of the vessel 102. The one or more processors 810can delay the firing time of the third source shot of the first source575 by a calculated amount of time based on the speed of the vessel 102.The one or more processors 810 can delay the firing time of the thirdsource shot of the first source 575 by a calculated amount of time basedon the location of the vessel 102.

The data processing system 800 can accelerate a firing time. The dataprocessing system 800 can accelerate the firing time of the third sourceshot of the first source 575. The one or more processors 810 canaccelerate the firing time. The one or more processors 810 canaccelerate the firing time of the third source shot of the first source575. For example, the data processing system 800 can accelerate thefiring time of the third source shot of the first source 575 by acalculated amount of time. The data processing system 800 can acceleratethe firing time of the second source shot by a calculated amount of timebased on the speed of the vessel 102. The data processing system 800 canaccelerate the firing time of the third source shot of the first source575 by a calculated amount of time based on the location of the vessel102. The one or more processors 810 can accelerate the firing time ofthe third source shot of the first source 575 by a calculated amount oftime based on the speed of the vessel 102. The one or more processors810 can accelerate the firing time of the third source shot of the firstsource 575 by a calculated amount of time based on the location of thevessel 102.

FIG. 6 illustrates a seabed object detection system 100. The seabedobject detection system 100 can include the source array 127. The sourcearray 127 can be towed as part of a first pass 605. For example, thesource array 127 towed as part of the first pass 605 can define a firstpath 615. The vessel 102 can tow the source array 127 as part of thefirst pass 605. The source array 127 can be towed as part of a secondpass 610. For example, the source array 127 towed as part of the secondpass 610 can define a second path 620. The vessel 102 can tow the sourcearray 127 as part of the first pass 605. The first path 615 can beinterleaved with the second path 620. For example, the source array 127towed during a first pass 605 can trace out the first path 615. Thesource array 127 towed during a second pass 610 can trace out the secondpath 620. The first path 615 and the second path 620 can overlap.

The seabed object detection system 100 perform a survey. The survey caninclude a first pass 605 and a second pass 610. The first pass 605 canproceed in a pattern (e.g., an elliptical pattern, an oval pattern, anobround pattern, a circular pattern). For example, the vessel 102 cantow the source array 127 as part of the first pass 605. The vessel 102can tow the receiver array 105 as part of the first pass 605. The vessel102 can tow the source array 127 as part of the second pass 610. Thesecond pass 610 can proceed in a pattern (e.g., an elliptical pattern,an oval pattern, an obround pattern, a circular pattern). The vessel 102can tow the receiver array 105 as part of the second pass 610. The firstpass 605 can be a distance 625 from the second pass 610. The vessel 102can tow the source array 127 as a part of the first pass 605 a distance625 from the second pass 610. The vessel 102 can tow the receiver array105 as part of the first pass 605 a distance 625 from the second pass610.

The seabed object detection system 100 can include an offset 625 betweenthe first path 615 and the second path 620. For example, the secondsource 155 during the first pass 605 can include an offset 625 from thesecond source 155 during the second pass 610. The first source 150during the first pass 605 can include an offset 625 from the firstsource 150 during the second pass 610. The fourth source 165 during thefirst pass 605 can include an offset 625 from the fourth source 165during the second pass 610. The third source 160 during the first pass605 can include an offset 625 from the third source 160 during thesecond pass 610. For example, the streamer 125 during the first pass 605can include an offset 625 from the streamer 125 during the second pass610. The vessel 102 during the first pass 605 can include an offset 625from the vessel 102 during the second pass 610.

The seabed object detection system 100 can include a vessel 102configured to tow the receiver array 105 and the source array 127. Thevessel 102 can tow the receiver array 105 and the source array 127during a first pass 605. The first pass 605 can proceed in a pattern(e.g., an elliptical pattern, an oval pattern, an obround pattern, acircular pattern). For example, the vessel 102 can tow the source array127 as part of the first pass 605. The vessel 102 can tow the receiverarray 105 as part of the first pass 605.

The vessel 102 can tow the receiver array 105 and the source array 127during a second pass 610. The vessel 102 can tow the source array 127 aspart of the second pass 610. The vessel 102 can tow the receiver array105 as part of the second pass 610. The second pass 610 can proceed in apattern (e.g., an elliptical pattern, an oval s, an obround pattern, acircular pattern). For example, the vessel 102 can tow the source array127 as part of the second pass 610. The vessel 102 can tow the receiverarray 105 as part of the second pass 610.

The vessel 102 during the first pass 605 can be located a distance 625from the vessel 102 during the second pass 610. The distance 625 can bebased on a number of the plurality of streamers 115 and a distancebetween the plurality of streamers 115. The distance 625 can be thenumber of plurality of streamers 115 times the distance between theplurality of streamers divided by two. For example, the number ofstreamers can be eight. The distance between two streamers of theplurality of streamers 115 can be 12.5 m. Therefore the distance 625 canbe 50 m. The number of streamers deployed can be an integer multiple oftwo. The number of streamers deployed can be equal to or greater thanfour. The number of sources deployed can be a multiple of the number ofstreamers deployed.

FIG. 7 illustrates a method of seabed object detection. In briefsummary, the method 700 can include providing a source array (BLOCK705). The method 700 can include determining a first source position(BLOCK 710). The method 700 can include identifying a firing time (BLOCK715). The method 700 can include initiating a first source shot (BLOCK720). The method 700 can include determining a target position (BLOCK725). The method 700 can include determining an estimated position(BLOCK 730). The method 700 can include determining a second position ofa source (BLOCK 735). The method 700 can include initiating a secondsource shot (BLOCK 740). The method 700 can include receivingdiffraction data (BLOCK 745). The method 700 can include receivingreflection data (BLOCK 750).

The method 700 can include providing a source array (BLOCK 705). Themethod can include providing a source array 127 including a first source150. The method can include providing a source array 127 including asecond source 155. The method can include providing a source array 127including a third source 160. The method can include providing a sourcearray 127 including a fourth source 165. The method can includeproviding a source array 127 including a fifth source 170. The methodcan include providing a source array 127 including a sixth source 175.The method can include providing a source array 127 including a seventhsource 180. The method can include providing a source array 127including an eighth source 185. The method can include towing, by avessel 102, the source array 127. The method can include towing, by avessel 102, the source array in a tow direction 101. The method caninclude generating, by the source array 127, a source shot 215. Themethod can include providing a receiver array 105 including a streamer125.

The method 700 can include determining a first source position (BLOCK710). The method can include determining, by a data processing system800, a first position of the first source 405. The method can includedetermining, by a data processing system 800 having one or moreprocessors 810, the first position of the first source 405. The methodcan include determining, by one or more processors 810, the firstposition of the first source 405.

The method 700 can include identifying a firing time (BLOCK 715). Themethod can include identifying, by the data processing system 800, afirst firing time of the second source 410. The method can includeidentifying, by the one or more processors 810, the first firing time ofthe second source 410. The method can include calculating, by the dataprocessing system 800, a first firing time of the second source 410. Themethod can include calculating, by the one or more processors 810, thefirst firing time of the second source 410. The method can includecalculating, by the data processing system 800, a second firing time ofthe second source 510. The method can include calculating, by the one ormore processors 810, the second firing time of the second source 510.

The method can include calculating, by the data processing system 800,the first firing time of the third source 427. The method can includecalculating, by the one or more processors 810, the first firing time ofthe third source 427. The method can include calculating, by the dataprocessing system 800, a second firing time of the third source 527. Themethod can include calculating, by the one or more processors 810, thesecond firing time of the third source 527. The method can includecalculating, by the data processing system 800, the first firing time ofthe fourth source 432. The method can include calculating, by the one ormore processors 810, the first firing time of the fourth source 432. Themethod can include calculating, by the data processing system 800, asecond firing time of the fourth source 532. The method can includecalculating, by the one or more processors 810, the second firing timeof the fourth source 532.

The method 700 can include initiating a first source shot (BLOCK 720).The method can include initiating, by the data processing system 800, afirst source shot of the first source 415. The method can includeinitiating, by the data processing system 800, a first source shot ofthe first source 415 at the first position of the first source 405. Themethod can include initiating, by the one or more processors 810, afirst source shot of the first source 415. The method can includeinitiating, by the one or more processors 810, a first source shot ofthe first source 415 at the first position of the first source 405. Themethod can include initiating, by the data processing system 800, afirst source shot of the second source 420. The method can includeinitiating, by the data processing system 800, a first source shot ofthe second source 420 at the first firing time of the second source 410.The method can include initiating, by the one or more processors 810, afirst source shot of the second source 420. The method can includeinitiating, by the one or more processors 810, a first source shot ofthe second source 420 at the first firing time of the second source 410.

The method 700 can include determining a target position (BLOCK 725).The method can include determining, by the data processing system 800, atarget position 493 for the first source 150. The method can includedetermining, by the one or more processors 810, a target position 493for the first source 150. The method can include determining, by thedata processing system 800, the target position 493 for the first source150. The target position 493 can be 6.25 meters from the first positionof the first source 405. The target position can be less than 10 metersfrom the first position of the first source 405. The target position canbe greater than 10 meters from the first position of the first source405.

The method 700 can include determining an estimated position (BLOCK730). The method can include determining, by the data processing system800, an estimated position 490 for the first source 150. The method caninclude determining, by the one or more processors 810, an estimatedposition 490 for the first source 150.

The method 700 can include determining a second position of a source(BLOCK 735). The method can include determining, by the data processingsystem 800, the second position of the first source 495. The method caninclude determining, by the data processing system 800, the secondposition of the first source 495 based on a difference between thetarget position 493 and the estimated position 490. The method caninclude determining, by the one or more processors 810, the secondposition of the first source 495. The method can include determining, bythe one or more processors 810, the second position of the first source495 based on a difference between the target position 493 and theestimated position 490.

The method 700 can include initiating a second source shot (BLOCK 740).The method can include initiating, by the data processing system 800, asecond source shot of the first source 475 at the second position of thefirst source 495. The method can include initiating, by the one or moreprocessors 810, a second source shot of the first source 475 at thesecond position of the first source 495. The method can includeinitiating, by the data processing system 800, a second source shot ofthe second source 520 at a second firing time of the second source 510.The method can include initiating, by the one or more processors 810, asecond source shot of the second source 520 at a second firing time ofthe second source 510. The method can include initiating, by the dataprocessing system 800, a first source shot of the third source 425 at afirst firing time of the third source 427. The method can includeinitiating, by the one or more processors 810, a first source shot ofthe third source 427 at a first firing time of the third source 427. Themethod can include initiating, by the data processing system 800, afirst source shot of the fourth source 430 at a first firing time of thefourth source 432. The method can include initiating, by the one or moreprocessors 810, a first source shot of the fourth source 430 at a firstfiring time of the fourth source 432.

The method 700 can include initiating, by the data processing system800, a first source shot of the fifth source 435 at a first firing timeof the fifth source 437. The method can include initiating, by the oneor more processors 810, a first source shot of the fifth source 435 at afirst firing time of the fifth source 437. The method can includeinitiating, by the data processing system 800, a first source shot ofthe sixth source 440 at a first firing time of the sixth source 442. Themethod can include initiating, by the one or more processors 810, afirst source shot of the sixth source 440 at a first firing time of thesixth source 442. The method can include initiating, by the dataprocessing system 800, a first source shot of the seventh source 445 ata first firing time of the seventh source 447. The method can includeinitiating, by the one or more processors 810, a first source shot ofthe seventh source 445 at a first firing time of the seventh source 447.The method can include initiating, by the data processing system 800, afirst source shot of the eighth source 450 at a first firing time of theeighth source 452. The method can include initiating, by the one or moreprocessors 810, a first source shot of the eighth source 450 at a firstfiring time of the eighth source 452.

The method 700 can include initiating, by the data processing system800, a second source shot of the third source 525 at a second firingtime of the third source 527. The method can include initiating, by theone or more processors 810, a second source shot of the third source 525at a second firing time of the third source 527. The method can includeinitiating, by the data processing system 800, a second source shot ofthe fourth source 530 at a second firing time of the fourth source 532.The method can include initiating, by the one or more processors 810, asecond source shot of the fourth source 530 at a second firing time ofthe fourth source 532.

The method 700 can include initiating, by the data processing system800, a second source shot of the fifth source 535 at a second firingtime of the fifth source 537. The method can include initiating, by theone or more processors 810, a second source shot of the fifth source 535at a second firing time of the fifth source 537. The method can includeinitiating, by the data processing system 800, a second source shot ofthe sixth source 540 at a second firing time of the sixth source 542.The method can include initiating, by the one or more processors 810, asecond source shot of the sixth source 540 at a second firing time ofthe sixth source 542.

The method 700 can include initiating, by the data processing system800, a second source shot of the seventh source 545 at a second firingtime of the seventh source 547. The method can include initiating, bythe one or more processors 810, a second source shot of the seventhsource 545 at a second firing time of the seventh source 547. The methodcan include initiating, by the data processing system 800, a secondsource shot of the eighth source 550 at a second firing time of theeighth source 552. The method can include initiating, by the one or moreprocessors 810, a second source shot of the eighth source 550 at asecond firing time of the eighth source 552.

The method 700 can include calculating a time interval 455 between afirst firing time of the first source 460 and the first firing time ofthe second source 410. The method 700 can include calculating, by a dataprocessing system 800, a time interval 455 between a first firing timeof the first source 460 and the first firing time of the second source410. The method 700 can include calculating, by the one or moreprocessors 810, a time interval 455 between a first firing time of thefirst source 460 and the first firing time of the second source 410. Themethod 700 can include calculating, by a data processing system 800, atime interval 455 between a first firing time of the first source 460and the first firing time of the second source 410 based on a speed of avessel 102. The method 700 can include calculating, by the one or moreprocessors 810, a time interval 455 between a first firing time of thefirst source 460 and the first firing time of the second source 410based on a speed of a vessel 102. The method can include calculating, bythe data processing system 800, a time interval 455 between a firstfiring time of the first source 460 and the first firing time of thesecond source 410 that is less than one second. The method can includecalculating, by the one or more processors 810, a time interval 455between a first firing time of the first source 460 and the second firstfiring time of the second source 410 that is less than one second.

The method 700 can include calculating a time interval between a firstfiring time of the first source 460 and the second firing time of thefirst source 560. The method 700 can include calculating, by a dataprocessing system 800, a time interval 455 between a first firing timeof the first source 460 and the second firing time of the first source560. The method 700 can include calculating, by the one or moreprocessors 810, a time interval between a first firing time of the firstsource 460 and the second firing time of the first source 560. Themethod 700 can include calculating, by a data processing system 800, atime interval 455 between a first firing time of the first source 460and the second firing time of the first source 560 based on a speed of avessel 102. The method 700 can include calculating, by the one or moreprocessors 810, a time interval between a first firing time of the firstsource 460 and the second firing time of the first source 560 based on aspeed of a vessel 102. The method can include calculating, by the dataprocessing system 800, a time interval between a first firing time ofthe first source 460 and a second firing time of the first source 560based on a speed of the vessel 102. The method can include calculating,by the data processing system 800, a fixed time interval between thefirst firing time of the second source 410 and the first firing time ofthe third source 427.

The method 700 can include receiving diffraction data (BLOCK 745). Themethod can include receiving, by the receiver array 105, diffractiondata that includes diffracted waves originating from a seabed object andgenerated from a source shot 215. The method can include receiving, bythe receiver array 105, diffraction data diffracted off the object inthe seabed. The method can include receiving, by the receiver array 105,diffracted waves originating from the object in the seabed 220. Theplurality of receivers 110 of the receiver array 105 can receivediffraction data. The diffraction data can include diffracted waves 205diffracted off a seabed object that is smaller than a Fresnel zone. TheFresnel zone is an area of a reflected from which most of the energy ofa reflection is returned and arrival times of the reflection differ byless than half a period from an arrival of energy propagated from anenergy source. Waves with such arrival times may interfereconstructively and be detected by a single arrival. Therefore, detectingreflection waves from an object smaller than the Fresnel zone may bedifficult. However, the plurality of receivers 110 of the receiver array105 can detect diffracted waves 205 from an object smaller than theFresnel zone. The method can include providing a plurality of receivers110

The method 700 can include receiving reflection data (BLOCK 750). Themethod can include receiving, by the receiver array 105, reflection datareflected off the object in the seabed. The source array 127 cangenerate a source shot 215. The source shot can travel through a medium(e.g., sea water) and reflect off a seabed object. The seabed object 210can be completed buried in the seabed 220. The seabed object 210 can bepartially buried in the seabed 220. The seabed object 210 can includesmall shallow objects such as boulders. The small shallow objects can bebetween 10 cm and 100 cm wide (e.g., 20 cm, 30 cm, 40 cm, 50 cm, 60 cm,70 cm, 80 cm, 90 cm, 100 cm). The small shallow objects can be greaterthan 100 cm. These small shallow objects can be less than 10 cm. Thewaves that reflect off the seabed object 210 may include reflectiondata. The reflection data may include a reflected wave. The receiverarray 105 can receive reflection data. For example, the receiver array105 can receive the reflected wave. A receiver of the plurality ofreceivers 110 can receive the reflected wave 305. The reflection datacan include a reflected wave 305 originating from a seabed object 210.The reflection data can include the reflected wave 305 generated from asource shot 215. The plurality of sources of the source array 127 cangenerate an acoustic signal. The plurality of receivers 110 of thereceiver array 105 can receive reflection data reflected off the objectin the seabed 220. The reflection data can include a reflected wave 305.A receiver of the plurality of receivers 110 can receive the reflectedwave 305 reflected off the object in the seabed 220 and generated by asource of the plurality of sources of the source array 127.

The method 700 can include providing a receiver array 105. The receiverarray 105 can include a plurality of receivers 110 disposed on aplurality of streamers. The method can include towing, by a vessel 102,the receiver array 105 and the source array 127. The method can includetowing, by the vessel 102, the receiver array 105 and the source array127 during a first pass 605. The method can include towing, by thevessel 102, the receiver array 105 and the source array 127 during asecond pass 610. The vessel 102 during the first pass 605 can be locateda distance 625 from the vessel 102 during the second pass 610. Thedistance 625 can be based on a number of the plurality of streamers anda distance between the plurality of streamers.

FIG. 8 depicts a block diagram of an architecture for a computing systememployed to implement various elements of the systems or componentsdepicted in FIGS. 1-3. FIG. 8 is a block diagram of a data processingsystem including a computer system 800 in accordance with an embodiment.The data processing system, computer system or computing device 800 canbe used to implement one or more component configured to filter,translate, transform, generate, analyze, or otherwise process the dataor signals depicted in FIGS. 1-3. The computing system 800 includes abus 805 or other communication component for communicating informationand a processor 810 or processing circuit coupled to the bus 805 forprocessing information. The computing system 800 can also include one ormore processors 810 or processing circuits coupled to the bus forprocessing information. The computing system 800 also includes mainmemory 815, such as a random access memory (RAM) or other dynamicstorage device, coupled to the bus 805 for storing information, andinstructions to be executed by the processor 810. Main memory 815 canalso be used for storing seismic data, binning function data, images,reports, tuning parameters, executable code, temporary variables, orother intermediate information during execution of instructions by theprocessor 810. The computing system 800 may further include a read onlymemory (ROM) 820 or other static storage device coupled to the bus 805for storing static information and instructions for the processor 810. Astorage device 825, such as a solid state device, magnetic disk oroptical disk, is coupled to the bus 805 for persistently storinginformation and instructions.

The computing system 800 may be coupled via the bus 805 to a display 835or display device, such as a liquid crystal display, or active matrixdisplay, for displaying information to a user. An input device 830, suchas a keyboard including alphanumeric and other keys, may be coupled tothe bus 805 for communicating information and command selections to theprocessor 810. The input device 830 can include a touch screen display835. The input device 830 can also include a cursor control, such as amouse, a trackball, or cursor direction keys, for communicatingdirection information and command selections to the processor 810 andfor controlling cursor movement on the display 835.

The processes, systems and methods described herein can be implementedby the computing system 800 in response to the processor 810 executingan arrangement of instructions contained in main memory 815. Suchinstructions can be read into main memory 815 from anothercomputer-readable medium, such as the storage device 825. Execution ofthe arrangement of instructions contained in main memory 815 causes thecomputing system 800 to perform the illustrative processes describedherein. One or more processors in a multi-processing arrangement mayalso be employed to execute the instructions contained in main memory815. In some embodiments, hard-wired circuitry may be used in place ofor in combination with software instructions to effect illustrativeimplementations. Thus, embodiments are not limited to any specificcombination of hardware circuitry and software.

Although an example computing system has been described in FIG. 8,embodiments of the subject matter and the functional operationsdescribed in this specification can be implemented in other types ofdigital electronic circuitry, or in computer software, firmware, orhardware, including the structures disclosed in this specification andtheir structural equivalents, or in combinations of one or more of them.

Embodiments of the subject matter and the operations described in thisspecification can be implemented in digital electronic circuitry, or incomputer software, firmware, or hardware, including the structuresdisclosed in this specification and their structural equivalents, or incombinations of one or more of them. The subject matter described inthis specification can be implemented as one or more computer programs,e.g., one or more circuits of computer program instructions, encoded onone or more computer storage media for execution by, or to control theoperation of, data processing apparatus. Alternatively or in addition,the program instructions can be encoded on an artificially generatedpropagated signal, e.g., a machine-generated electrical, optical, orelectromagnetic signal that is generated to encode information fortransmission to suitable receiver apparatus for execution by a dataprocessing apparatus. A computer storage medium can be, or be includedin, a computer-readable storage device, a computer-readable storagesubstrate, a random or serial access memory array or device, or acombination of one or more of them. Moreover, while a computer storagemedium is not a propagated signal, a computer storage medium can be asource or destination of computer program instructions encoded in anartificially generated propagated signal. The computer storage mediumcan also be, or be included in, one or more separate components or media(e.g., multiple CDs, disks, or other storage devices).

The operations described in this specification can be performed by adata processing apparatus on data stored on one or morecomputer-readable storage devices or received from other sources. Theterm “data processing apparatus” or “computing device” encompassesvarious apparatuses, devices, and machines for processing data,including by way of example a programmable processor, a computer, asystem on a chip, or multiple ones, or combinations of the foregoing.The apparatus can include special purpose logic circuitry, e.g., an FPGA(field programmable gate array) or an ASIC (application specificintegrated circuit). The apparatus can also include, in addition tohardware, code that creates an execution environment for the computerprogram in question, e.g., code that constitutes processor firmware, aprotocol stack, a database management system, an operating system, across-platform runtime environment, a virtual machine, or a combinationof one or more of them. The apparatus and execution environment canrealize various different computing model infrastructures, such as webservices, distributed computing and grid computing infrastructures.

A computer program (also known as a program, software, softwareapplication, script, or code) can be written in any form of programminglanguage, including compiled or interpreted languages, declarative orprocedural languages, and it can be deployed in any form, including as astand-alone program or as a circuit, component, subroutine, object, orother unit suitable for use in a computing environment. A computerprogram may, but need not, correspond to a file in a file system. Aprogram can be stored in a portion of a file that holds other programsor data (e.g., one or more scripts stored in a markup languagedocument), in a single file dedicated to the program in question, or inmultiple coordinated files (e.g., files that store one or more circuits,subprograms, or portions of code). A computer program can be deployed tobe executed on one computer or on multiple computers that are located atone site or distributed across multiple sites and interconnected by acommunication network.

Processors suitable for the execution of a computer program include, byway of example, microprocessors, and any one or more processors of adigital computer. A processor can receive instructions and data from aread only memory or a random access memory or both. The elements of acomputer are a processor for performing actions in accordance withinstructions and one or more memory devices for storing instructions anddata. A computer can include, or be operatively coupled to receive datafrom or transfer data to, or both, one or more mass storage devices forstoring data, e.g., magnetic, magneto optical disks, or optical disks. Acomputer need not have such devices. Moreover, a computer can beembedded in another device, e.g., a personal digital assistant (PDA), aGlobal Positioning System (GPS) receiver, or a portable storage device(e.g., a universal serial bus (USB) flash drive), to name just a few.Devices suitable for storing computer program instructions and datainclude all forms of non-volatile memory, media and memory devices,including by way of example semiconductor memory devices, e.g., EPROM,EEPROM, and flash memory devices; magnetic disks, e.g., internal harddisks or removable disks; magneto optical disks; and CD ROM and DVD-ROMdisks. The processor and the memory can be supplemented by, orincorporated in, special purpose logic circuitry.

To provide for interaction with a user, implementations of the subjectmatter described in this specification can be implemented on a computerhaving a display device, e.g., a CRT (cathode ray tube) or LCD (liquidcrystal display) monitor, for displaying information to the user and akeyboard and a pointing device, e.g., a mouse or a trackball, by whichthe user can provide input to the computer. Other kinds of devices canbe used to provide for interaction with a user as well; for example,feedback provided to the user can be any form of sensory feedback, e.g.,visual feedback, auditory feedback, or tactile feedback; and input fromthe user can be received in any form, including acoustic, speech, ortactile input.

The implementations described herein can be implemented in any ofnumerous ways including, for example, using hardware, software or acombination thereof. When implemented in software, the software code canbe executed on any suitable processor or collection of processors,whether provided in a single computer or distributed among multiplecomputers.

Also, a computer may have one or more input and output devices. Thesedevices can be used, among other things, to present a user interface.Examples of output devices that can be used to provide a user interfaceinclude printers or display screens for visual presentation of outputand speakers or other sound generating devices for audible presentationof output. Examples of input devices that can be used for a userinterface include keyboards, and pointing devices, such as mice, touchpads, and digitizing tablets. As another example, a computer may receiveinput information through speech recognition or in other audible format.

Such computers may be interconnected by one or more networks in anysuitable form, including a local area network or a wide area network,such as an enterprise network, and intelligent network (IN) or theInternet. Such networks may be based on any suitable technology and mayoperate according to any suitable protocol and may include wirelessnetworks, wired networks or fiber optic networks.

A computer employed to implement at least a portion of the functionalitydescribed herein may comprise a memory, one or more processing units(also referred to herein simply as “processors”), one or morecommunication interfaces, one or more display units, and one or moreuser input devices. The memory may comprise any computer-readable media,and may store computer instructions (also referred to herein as“processor-executable instructions”) for implementing the variousfunctionalities described herein. The processing unit(s) may be used toexecute the instructions. The communication interface(s) may be coupledto a wired or wireless network, bus, or other communication means andmay therefore allow the computer to transmit communications to orreceive communications from other devices. The display unit(s) may beprovided, for example, to allow a user to view various information inconnection with execution of the instructions. The user input device(s)may be provided, for example, to allow the user to make manualadjustments, make selections, enter data or various other information,or interact in any of a variety of manners with the processor duringexecution of the instructions.

The various methods or processes outlined herein may be coded assoftware that is executable on one or more processors that employ anyone of a variety of operating systems or platforms. Additionally, suchsoftware may be written using any of a number of suitable programminglanguages or programming or scripting tools, and also may be compiled asexecutable machine language code or intermediate code that is executedon a framework or virtual machine.

In this respect, various inventive concepts may be embodied as acomputer readable storage medium (or multiple computer readable storagemedia) (e.g., a computer memory, one or more floppy discs, compactdiscs, optical discs, magnetic tapes, flash memories, circuitconfigurations in Field Programmable Gate Arrays or other semiconductordevices, or other non-transitory medium or tangible computer storagemedium) encoded with one or more programs that, when executed on one ormore computers or other processors, perform methods that implement thevarious embodiments of the solution discussed above. The computerreadable medium or media can be transportable, such that the program orprograms stored thereon can be loaded onto one or more differentcomputers or other processors to implement various aspects of thepresent solution as discussed above.

The terms “program” or “software” are used herein to refer to any typeof computer code or set of computer-executable instructions that can beemployed to program a computer or other processor to implement variousaspects of embodiments as discussed above. One or more computer programsthat when executed perform methods of the present solution need notreside on a single computer or processor, but may be distributed in amodular fashion amongst a number of different computers or processors toimplement various aspects of the present solution.

Computer-executable instructions may be in many forms, such as programmodules, executed by one or more computers or other devices. Programmodules can include routines, programs, objects, components, datastructures, or other components that perform particular tasks orimplement particular abstract data types. The functionality of theprogram modules can be combined or distributed as desired in variousembodiments.

Also, data structures may be stored in computer-readable media in anysuitable form. For simplicity of illustration, data structures may beshown to have fields that are related through location in the datastructure. Such relationships may likewise be achieved by assigningstorage for the fields with locations in a computer-readable medium thatconvey relationship between the fields. However, any suitable mechanismmay be used to establish a relationship between information in fields ofa data structure, including through the use of pointers, tags or othermechanisms that establish relationship between data elements.

Any references to implementations or elements or acts of the systems andmethods herein referred to in the singular can include implementationsincluding a plurality of these elements, and any references in plural toany implementation or element or act herein can include implementationsincluding only a single element. References in the singular or pluralform are not intended to limit the presently disclosed systems ormethods, their components, acts, or elements to single or pluralconfigurations. References to any act or element being based on anyinformation, act or element may include implementations where the act orelement is based at least in part on any information, act, or element.

Any implementation disclosed herein may be combined with any otherimplementation, and references to “an implementation,” “someimplementations,” “an alternate implementation,” “variousimplementations,” “one implementation” or the like are not necessarilymutually exclusive and are intended to indicate that a particularfeature, structure, or characteristic described in connection with theimplementation may be included in at least one implementation. Suchterms as used herein are not necessarily all referring to the sameimplementation. Any implementation may be combined with any otherimplementation, inclusively or exclusively, in any manner consistentwith the aspects and implementations disclosed herein.

References to “or” may be construed as inclusive so that any termsdescribed using “or” may indicate any of a single, more than one, andall of the described terms. References to at least one of a conjunctivelist of terms may be construed as an inclusive OR to indicate any of asingle, more than one, and all of the described terms. For example, areference to “at least one of ‘A’ and ‘B’” can include only ‘A’, only‘B’, as well as both ‘A’ and ‘B’. Elements other than ‘A’ and ‘B’ canalso be included.

The systems and methods described herein may be embodied in otherspecific forms without departing from the characteristics thereof. Theforegoing implementations are illustrative rather than limiting of thedescribed systems and methods.

Where technical features in the drawings, detailed description or anyclaim are followed by reference signs, the reference signs have beenincluded to increase the intelligibility of the drawings, detaileddescription, and claims. Accordingly, neither the reference signs northeir absence have any limiting effect on the scope of any claimelements.

The systems and methods described herein may be embodied in otherspecific forms without departing from the characteristics thereof. Theforegoing implementations are illustrative rather than limiting of thedescribed systems and methods. Scope of the systems and methodsdescribed herein is thus indicated by the appended claims, rather thanthe foregoing description, and changes that come within the meaning andrange of equivalency of the claims are embraced therein.

What is claimed is:
 1. A seabed object detection system, comprising: asource array comprising a first source, a second source, a third source,and a fourth source; a data processing system having one or moreprocessors, the data processing system to: determine a first position ofthe first source; calculate a first firing time of the second source, afirst firing time of the third source, and a first firing time of fourthsource, wherein the first firing time of the second source occurs at apredetermined time after a first firing time of the first source;initiate a first source shot of the first source at the first positionof the first source; initiate a first source shot of the second sourceat the first firing time of the second source, a first source shot ofthe third source at the first firing time of the third source, and afirst source shot of the fourth source at the first firing time of thefourth source; determine a target position to initiate a second sourceshot for the first source, the target position less than 10 meters fromthe first position of the first source; determine an estimated positionfor the first source between the first source shot of the first sourceand the second source shot of the first source; calculate a time betweenthe first source shot of the first source and the second source shot ofthe first source; determine, based on a difference between the targetposition and the estimated position, a second position of the firstsource; and initiate the second source shot of the first source at thesecond position of the first source the second shot initiates earlierthan the calculated time with the estimated position over 10 meters fromthe first position of the first source, wherein the data processingsystem is configured to schedule the first firing time of the secondsource shot by a calculated amount of time based on speed of a vessel;and a receiver to receive diffraction data.
 2. The seabed objectdetection system of claim 1, comprising the data processing system to:calculate a second firing time of the second source, a second firingtime of the third source, and a second firing time of the fourth source;and initiate a second source shot of the second source at the secondfiring time of the second source, a second source shot of the thirdsource at the second firing time of the third source, and a secondsource shot of the fourth source at the second firing time of the fourthsource.
 3. The seabed object detection system of claim 1, comprising:the source array comprising a fifth source, a sixth source, a seventhsource, and an eighth source; the data processing system to: calculate afirst firing time of the fifth source, a first firing time of the sixthsource, a first firing time of the seventh source, and a first firingtime of eighth source; and initiate a first source shot of the fifthsource at the first firing time of the fifth source, a first source shotof the sixth source at the first firing time of the sixth source, afirst source shot of the seventh source at the first firing time of theseventh source, and a first source shot of the eighth source at thefirst firing time of the eighth source.
 4. The seabed object detectionsystem of claim 1, comprising: the data processing system to calculatethe time interval between the first source shot of the first source andthe second source shot of the first source based on a speed of thevessel.
 5. The seabed object detection system of claim 1, comprising:the data processing system to calculate a fixed time interval betweenthe first firing time of the second source and the first firing time ofthe third source.
 6. The seabed object detection system of claim 1,comprising: the data processing system to determine the target positionfor the first source, the target position 6.25 meters from the firstposition of the first source.
 7. The seabed object detection system ofclaim 1, comprising: the data processing system to calculate a timeinterval between a first firing time of the first source and the firstfiring time of the second source that is less than one second.
 8. Theseabed object detection system of claim 1, comprising: the dataprocessing system to calculate a time interval between the first firingtime of the second source and the first firing time of the third sourcethat is less than one second.
 9. The seabed object detection system ofclaim 1, comprising: the source array to generate a source shot; areceiver array comprising a streamer; and a plurality of receiverscoupled with the streamer, the plurality of receivers to receivediffraction data that includes diffracted waves originating from aseabed object and generated from the source shot.
 10. The seabed objectdetection system of claim 1, comprising: the source array to generate asource shot; a receiver array comprising a streamer; and a plurality ofreceivers coupled with the streamer, the plurality of receivers toreceive reflection data reflected off an object in a seabed.
 11. Theseabed object detection system of claim 1, comprising: a receiver arraycomprising a streamer; a plurality of receivers coupled with thestreamer; and the vessel to tow the receiver array and the source array.12. The seabed object detection system of claim 1, comprising: areceiver array including a plurality of receivers disposed on aplurality of streamers; the vessel to tow the receiver array and thesource array, wherein: the vessel tows the receiver array and the sourcearray during a first pass; and the vessel tows the receiver array andthe source array during a second pass; and wherein the vessel during thefirst pass is located a distance from the vessel during the second pass,the distance based on a number of the plurality of streamers and adistance between the plurality of streamers.
 13. A method of seabedobject detection, comprising: providing a source array comprising afirst source, a second source, a third source, and a fourth source;determining, by a data processing system having one or more processors,a first position of the first source; identifying, by the dataprocessing system, a first firing time of the second source, a firstfiring time of the third source, and a first firing time of fourthsource, wherein the first firing time of the second source occurs at apredetermined time after a first firing time of the first source;initiating, by the data processing system, a first source shot of thefirst source at the first position of the first source; initiating, bythe data processing system, a first source shot of the second source atthe first firing time of the second source, a first source shot of thethird source at the first firing time of the third source, and a firstsource shot of the fourth source at the first firing time of the fourthsource; determining, by the data processing system, a target position toinitiate a second source shot for the first source, the target positionless than 10 meters from the first position of the first source;determining, by the data processing system, an estimated position forthe first source between the first source shot of the first source andthe second source shot of the first source; calculating, by the dataprocessing system, a time interval between the first source shot of thefirst source and the second source shot of the first source;determining, by the data processing system, based on a differencebetween the target position and the estimated position, a secondposition of the first source; and initiating, by the data processingsystem, the second source shot of the first source at the secondposition of the first source the second shot initiating earlier than thecalculated time with the estimated position over 10 meters from thefirst position of the first source, wherein the first firing time of thesecond source is scheduled to shot by a calculated amount of time basedon speed of a vessel; and receiving, by a receiver, diffraction data.14. The method of claim 13, comprising: calculating by the dataprocessing system, a second firing time of the second source, a secondfiring time of the third source, and a second firing time of the fourthsource; and initiating by the data processing system, a second sourceshot of the second source at the second firing time of the secondsource, a second source shot of the third source at the second firingtime of the third source, and a second source shot of the fourth sourceat the second firing time of the fourth source.
 15. The method of claim13, comprising: providing the source array comprising a fifth source, asixth source, a seventh source, and an eighth source; calculating, bythe data processing system, a first firing time of the fifth source, afirst firing time of the sixth source, a first firing time of theseventh source, and a first firing time of eighth source; andinitiating, by the data processing system, a first source shot of thefifth source at the first firing time of the fifth source, a firstsource shot of the sixth source at the first firing time of the sixthsource, a first source shot of the seventh source at the first firingtime of the seventh source, and a first source shot of the eighth sourceat the first firing time of the eighth source.
 16. The method of claim13, comprising: calculating, by the data processing system, timeinterval between the first source shot of the first source and thesecond source shot of the first source based on a speed of the vessel.17. The method of claim 13, comprising: determining, by the dataprocessing system, the target position for the first source, the targetposition 6.25 meters from the first position of the first source. 18.The method of claim 13, comprising: calculating, by the data processingsystem, a time interval between a first firing time of the first sourceand the first firing time of the second source that is less than onesecond.
 19. The method of claim 13, comprising: generating, by thesource array, a source shot; providing a receiver array comprising astreamer; and providing a plurality of receivers coupled with thestreamer, the plurality of receivers to receive diffraction data thatincludes diffracted waves originating from a seabed object and generatedfrom the source shot.
 20. The method of claim 13, comprising: providinga receiver array including a plurality of receivers disposed on aplurality of streamers; towing, by the vessel, the receiver array andthe source array; towing, by the vessel, the receiver array and thesource array during a first pass; towing, by the vessel, the receiverarray and the source array during a second pass; and wherein the vesselduring the first pass is located a distance from the vessel during thesecond pass, the distance based on a number of the plurality ofstreamers and a distance between the plurality of streamers.